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<h2>Model Predictive Control</h2>
<p></p>
    
      <ol>
      
         <li>Modeling of linear, affine, piecewise affine and MLD systems.</li>
      
         <li>On-line and explicit MPC.</li>
      
         <li>Closed-loop simulation.</li>
      
         <li>Invariant set computation.</li>
    
      </ol>
  
   <h2>Geometric library</h2>
<p></p>
  
      <ol>
    
         <li>Bounded and unbounded polyhedra.</li>
    
         <li>Lower-dimensional polyhedra.</li>
    
         <li>General convex sets.</li>
    
         <li>Operations on unions of convex sets.</li>
  
      </ol>
  
   <h2>Parametric optimization</h2>
<p></p>
  
      <ol>
    
         <li>Parametric linear programming solvers.</li>
    
         <li>Parametric quadratic programming solvers.</li>
    
         <li>Parametric linear complementarity solvers.</li>
  
      </ol>
  
   <h2>Interfaces to standalone solvers</h2>
<p></p>
  
      <ol>
    
         <li>Linear programming: CDD, GLPK, SeDuMi, CLP, QPOASES, CPLEX,
    GUROBI, NAG.</li>
    
         <li>Quadratic programming: SeDuMi, CLP, QPOASES, QPSPLINE, CPLEX,
    GUROBI, NAG.</li>
    
         <li>Mixed-integer optimization: GLPK, CPLEX, GUROBI.</li>
  
      </ol>
  
   <p></p>
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